基于H_(∞)控制策略的机床主轴综合鲁棒控制研究

Research on Robust Control System of Machine Tool Spindle Based on H_(∞) Control Strategy

针对数控机床主轴的控制问题,采用综合鲁棒控制器实现数控机床主轴的有效控制,并对控制效果进行仿真验证。构造数控机床主轴系统模型简图,建立了考虑切削力的数控机床主轴的完整动力学模型。基于H_(∞)控制策略开发针对机床主轴的综合鲁棒控制器。采用MATLAB软件对数控机床主轴进行仿真,并与传统PID控制器的仿真结果进行对比和分析。结果显示:采用综合鲁棒控制器控制的数控机床主轴转速超调量小,能快速消除波动;所需控制电压范围减少了约50%;即使受到较大随机干扰,主轴系统也能够快速消除干扰,处于受控状态且稳定。采用综合鲁棒控制器可以提高机床主轴的动态稳定性以及抗干扰能力。

Aiming at the control problem of CNC machine tool spindle,an comprehensive robust controller was used to achieve effective control of the CNC machine tool spindle,and the control effect was simulated and verified.The schematic diagram of the CNC machine tool spindle system was constructed,and the complete dynamic model of the CNC machine tool spindle considering the cutting force was established.A comprehensive robust controller for the machine tool spindle was developed based on H∞control strategy.MATLAB was used to simulate the spindle of the CNC machine tool,and the simulation results were compared and analyzed with the traditional PID controller.The results show that the spindle speed of the CNC machine tool controlled by the comprehensive robust controller has a small amount of overshoot,and the fluctuation can be quickly eliminated;the required control voltage range is reduced by about 50%.Even if subjected to large random interference,the spindle system can quickly eliminate interference into a controlled and stable state.The dynamic stability and anti-interference ability of machine tool spindle can be improved by adopting the comprehensive robust controller.